/**
  ******************************************************************************
  * @file    tim.c
  * @brief   This file provides code for the configuration
  *          of the TIM instances.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "tim.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
TIM_HandleTypeDef htim7;

/* TIM2 init function */
void MX_TIM2_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 84-1;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 65535;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }

}
/* TIM3 init function */
void MX_TIM3_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 83;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 20000;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
  {
    Error_Handler();
  }
  HAL_TIM_MspPostInit(&htim3);

}
/* TIM4 init function */
void MX_TIM4_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_IC_InitTypeDef sConfigIC = {0};

  htim4.Instance = TIM4;
  htim4.Init.Prescaler = 83;
  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim4.Init.Period = 10000;
  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_IC_Init(&htim4) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
  sConfigIC.ICFilter = 0;
  if (HAL_TIM_IC_ConfigChannel(&htim4, &sConfigIC, TIM_CHANNEL_4) != HAL_OK)
  {
    Error_Handler();
  }

}
/* TIM7 init function */
void MX_TIM7_Init(void)
{
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  htim7.Instance = TIM7;
  htim7.Init.Prescaler = 8399;
  htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim7.Init.Period = 10;
  htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim7) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim7, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }

}

void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(tim_baseHandle->Instance==TIM2)
  {
  /* USER CODE BEGIN TIM2_MspInit 0 */

  /* USER CODE END TIM2_MspInit 0 */
    /* TIM2 clock enable */
    __HAL_RCC_TIM2_CLK_ENABLE();

    /* TIM2 interrupt Init */
    HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(TIM2_IRQn);
  /* USER CODE BEGIN TIM2_MspInit 1 */

  /* USER CODE END TIM2_MspInit 1 */
  }
  else if(tim_baseHandle->Instance==TIM3)
  {
  /* USER CODE BEGIN TIM3_MspInit 0 */

  /* USER CODE END TIM3_MspInit 0 */
    /* TIM3 clock enable */
    __HAL_RCC_TIM3_CLK_ENABLE();

    /* TIM3 interrupt Init */
    HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(TIM3_IRQn);
  /* USER CODE BEGIN TIM3_MspInit 1 */

  /* USER CODE END TIM3_MspInit 1 */
  }
  else if(tim_baseHandle->Instance==TIM4)
  {
  /* USER CODE BEGIN TIM4_MspInit 0 */

  /* USER CODE END TIM4_MspInit 0 */
    /* TIM4 clock enable */
    __HAL_RCC_TIM4_CLK_ENABLE();

    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**TIM4 GPIO Configuration
    PB9     ------> TIM4_CH4
    */
    GPIO_InitStruct.Pin = HW_DAT_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_PULLUP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
    HAL_GPIO_Init(HW_DAT_GPIO_Port, &GPIO_InitStruct);

    /* TIM4 interrupt Init */
    HAL_NVIC_SetPriority(TIM4_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(TIM4_IRQn);
  /* USER CODE BEGIN TIM4_MspInit 1 */

  /* USER CODE END TIM4_MspInit 1 */
  }
  else if(tim_baseHandle->Instance==TIM7)
  {
  /* USER CODE BEGIN TIM7_MspInit 0 */

  /* USER CODE END TIM7_MspInit 0 */
    /* TIM7 clock enable */
    __HAL_RCC_TIM7_CLK_ENABLE();

    /* TIM7 interrupt Init */
    HAL_NVIC_SetPriority(TIM7_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(TIM7_IRQn);
  /* USER CODE BEGIN TIM7_MspInit 1 */

  /* USER CODE END TIM7_MspInit 1 */
  }
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(timHandle->Instance==TIM3)
  {
  /* USER CODE BEGIN TIM3_MspPostInit 0 */

  /* USER CODE END TIM3_MspPostInit 0 */

    __HAL_RCC_GPIOA_CLK_ENABLE();
    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**TIM3 GPIO Configuration
    PA6     ------> TIM3_CH1
    PA7     ------> TIM3_CH2
    PB0     ------> TIM3_CH3
    PB1     ------> TIM3_CH4
    */
    GPIO_InitStruct.Pin = LED_R_Pin|LED_G_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = LED_B_Pin|GPIO_PIN_1;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM3_MspPostInit 1 */

  /* USER CODE END TIM3_MspPostInit 1 */
  }

}

void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{

  if(tim_baseHandle->Instance==TIM2)
  {
  /* USER CODE BEGIN TIM2_MspDeInit 0 */

  /* USER CODE END TIM2_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM2_CLK_DISABLE();

    /* TIM2 interrupt Deinit */
    HAL_NVIC_DisableIRQ(TIM2_IRQn);
  /* USER CODE BEGIN TIM2_MspDeInit 1 */

  /* USER CODE END TIM2_MspDeInit 1 */
  }
  else if(tim_baseHandle->Instance==TIM3)
  {
  /* USER CODE BEGIN TIM3_MspDeInit 0 */

  /* USER CODE END TIM3_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM3_CLK_DISABLE();

    /* TIM3 interrupt Deinit */
    HAL_NVIC_DisableIRQ(TIM3_IRQn);
  /* USER CODE BEGIN TIM3_MspDeInit 1 */

  /* USER CODE END TIM3_MspDeInit 1 */
  }
  else if(tim_baseHandle->Instance==TIM4)
  {
  /* USER CODE BEGIN TIM4_MspDeInit 0 */

  /* USER CODE END TIM4_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM4_CLK_DISABLE();

    /**TIM4 GPIO Configuration
    PB9     ------> TIM4_CH4
    */
    HAL_GPIO_DeInit(HW_DAT_GPIO_Port, HW_DAT_Pin);

    /* TIM4 interrupt Deinit */
    HAL_NVIC_DisableIRQ(TIM4_IRQn);
  /* USER CODE BEGIN TIM4_MspDeInit 1 */

  /* USER CODE END TIM4_MspDeInit 1 */
  }
  else if(tim_baseHandle->Instance==TIM7)
  {
  /* USER CODE BEGIN TIM7_MspDeInit 0 */

  /* USER CODE END TIM7_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM7_CLK_DISABLE();

    /* TIM7 interrupt Deinit */
    HAL_NVIC_DisableIRQ(TIM7_IRQn);
  /* USER CODE BEGIN TIM7_MspDeInit 1 */

  /* USER CODE END TIM7_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */
void PWM_Stop(void)
{
	HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_1);
	HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_2);
	HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_3);
	HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);
	
}
void PWM_Output(uint8_t PWM_Channel,int Angle)
{
	switch (PWM_Channel)
	{
		case 1:
			switch(Angle)
			{
				case 0:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_1,500);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1);
				break;
				case 45:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_1,1000);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1);
					
				break;
				case 90:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_1,1500);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1);
				break;
				case 135:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_1,2000);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1);
				break;
				case 180:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);             
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_1,2500);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1);
				break;
				default:
					HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_1);
			}

		break;
		case 2:
			switch(Angle)
			{
				case 0:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_2,500);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_2);
				break;
				case 45:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_2,1000);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_2);
					
				break;
				case 90:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_2,1500);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_2);
				break;
				case 135:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_2,2000);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_2);
				break;
				case 180:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);             
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_2,2500);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_2);
				break;
				default:
					HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_2);
			}	
		break;
		
		case 3:
			switch(Angle)
			{
				case 0:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_3,500);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_3);
				break;
				case 45:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_3,1000);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_3);
					
				break;
				case 90:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_3,1500);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_3);
				break;
				case 135:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_3,2000);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_3);
				break;
				case 180:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);             
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_3,2500);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_3);
				break;
				default:
					HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_3);
			}	
		break;
		case 4:
			switch(Angle)
			{
				case 0:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_4,500);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_4);
				break;
				case 45:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_4,1000);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_4);
					
				break;
				case 90:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_4,1500);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_4);
				break;
				case 135:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_4,2000);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_4);
				break;
				case 180:
					//HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);             
					__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_4,2500);
					HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_4);
				break;
				default:
					HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_4);
			}	
		break;
		
	}
}
/* USER CODE END 1 */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
